class DoubleAgent(object):
def __init__(self,
game1,
game2,
mem_size = 1000000,
state_buffer_size = 4,
batch_size = 64,
learning_rate = 1e-5,
pretrained_model = None,
pretrained_subnet1 = False,
pretrained_subnet2 = False,
frameskip = 4,
frozen = False
):
"""
Inputs:
- game 1: string to select the game 1
- game 2: string to select the game 2
- mem_size: int length of the replay memory
- state_buffer_size: int number of recent frames used as input for neural network
- batch_size: int
- learning_rate: float
- pretrained_model: str path to the model
- pretrained_subnet1: str path to the model of the subnet
- pretrained_subnet2: str path to the model of the subnet
- frozen: boolean freeze pretrained subnets
"""
# Namestring
self.game1 = game1
self.game2 = game2
# Environment
self.env1 = Environment(game_name[game1], dimensions[game1], frameskip=frameskip)
self.env2 = Environment(game_name[game2], dimensions[game2], frameskip=frameskip)
# Neural net
self.pretrained_subnet1 = pretrained_subnet1
self.pretrained_subnet2 = pretrained_subnet2
self.net = TwinDQN(channels_in = state_buffer_size,
num_actions = self.env2.get_number_of_actions(),
pretrained_subnet1 = pretrained_subnet1,
pretrained_subnet2 = pretrained_subnet2,
frozen = frozen)
self.target_net = TwinDQN(channels_in = state_buffer_size,
num_actions = self.env2.get_number_of_actions(),
pretrained_subnet1 = pretrained_subnet1,
pretrained_subnet2 = pretrained_subnet2,
frozen = frozen)
# Cuda
self.use_cuda = torch.cuda.is_available()
if self.use_cuda:
self.net.cuda()
self.target_net.cuda()
# Pretrained
if pretrained_model:
self.net.load(pretrained_model)
self.target_net.load(pretrained_model)
self.pretrained_model = True
else:
self.pretrained_model = False
# Optimizer
self.learning_rate = learning_rate
self.optimizer = optim.Adam(filter(lambda p: p.requires_grad, self.net.parameters()),
lr=learning_rate)
#self.optimizer = optim.RMSprop(filter(lambda p: p.requires_grad, self.net.parameters()),
# lr=learning_rate,alpha=0.95, eps=0.01)
self.batch_size = batch_size
self.optimize_each_k = 1
self.update_target_net_each_k_steps = 10000
self.noops_count = 0
# Replay Memory (Long term memory)
self.replay = ReplayMemory(capacity=mem_size, num_history_frames=state_buffer_size)
self.mem_size = mem_size
# Fill replay memory before training
if not self.pretrained_model:
self.start_train_after = 50000
else:
self.start_train_after = mem_size//2
# Buffer for the most recent states (Short term memory)
self.num_stored_frames = state_buffer_size
# Steps
self.steps = 0
# Save net
self.save_net_each_k_episodes = 500
def select_action(self, observation, mode='train'):
"""
Select an random action from action space or an proposed action
from neural network depending on epsilon
Inputs:
- observation: np.array with the observation
Returns:
- action: int
"""
# Hyperparameters
EPSILON_START = 1
EPSILON_END = 0.1
EPSILON_DECAY = 1000000
EPSILON_PLAY = 0.01
MAXNOOPS = 30
# Decrease of epsilon value
if not self.pretrained_model:
#epsilon = EPSILON_END + (EPSILON_START - EPSILON_END) * \
# np.exp(-1. * (self.steps-self.batch_size) / EPSILON_DECAY)
epsilon = EPSILON_START - self.steps * (EPSILON_START - EPSILON_END) / EPSILON_DECAY
elif mode=='play':
epsilon = EPSILON_PLAY
else:
epsilon = EPSILON_END
if epsilon < random():
# Action according to neural net
# Wrap tensor into variable
state_variable = Variable(observation, volatile=True)
# Evaluate network and return action with maximum of activation
action = self.net(state_variable).data.max(1)[1].view(1,1)
# Prevent noops
if action[0,0]!=1:
self.noops_count += 1
if self.noops_count == MAXNOOPS:
action[0,0] = 1
self.noops_count = 0
else:
self.noops_count = 0
else:
# Random action
action = self.env2.sample_action()
action = LongTensor([[action]])
return action
def map_action(self, action):
"""
Maps action from game with more actions
to game with less actions
Inputs:
- action: int
Returns:
- action: int
"""
# Map SpaceInvaders on Breakout
if self.game1=='Breakout' and self.game2=='SpaceInvaders':
if action>3: # shoot+right/left --> right/left
return action-2
# Map Assault on SpaceInvaders
if self.game1=='SpaceInvaders' and self.game2=='Assault':
if action!=0: # all actions except 2nd idle
return action-1
# Map Phoenix on SpaceInvaders
if self.game1=='SpaceInvaders' and self.game2=='Phoenix':
if action==4: # shield --> idle
return 0
if action==7: # shield+shot --> shot
return 1
if action>4: # shoot+right/left --> shoot+right/left
return action-1
# Map Phoenix on Assault
if self.game1=='Assault' and self.game2=='Phoenix':
if action==4: # shield --> idle
return 0
if action==7: # shield+shot --> shot
return 2
if 1<= action and action<=3: # shot/right/left --> shot/right/left
return action+1
# No mapping necessary
return action
def optimize(self, net_updates):
"""
Optimizer function
Inputs:
- net_updates: int
Returns:
- loss: float
- q_value: float
- exp_q_value: float
"""
# Hyperparameter
GAMMA = 0.99
# not enough memory yet
if len(self.replay) < self.start_train_after:
return
# Sample a transition
batch = self.replay.sampleTransition(self.batch_size)
# Mask to indicate which states are not final (=done=game over)
non_final_mask = ByteTensor(list(map(lambda ns: ns is not None, batch.next_state)))
# Wrap tensors in variables
state_batch = Variable(torch.cat(batch.state))
action_batch = Variable(torch.cat(batch.action))
reward_batch = Variable(torch.cat(batch.reward))
non_final_next_states = Variable(torch.cat([ns for ns in batch.next_state if ns is not None]),
volatile=True) # volatile==true prevents calculation of the derivative
next_state_values = Variable(torch.zeros(self.batch_size).type(FloatTensor), volatile=False)
if self.use_cuda:
state_batch = state_batch.cuda()
action_batch = action_batch.cuda()
reward_batch = reward_batch.cuda()
non_final_mask = non_final_mask.cuda()
non_final_next_states = non_final_next_states.cuda()
next_state_values = next_state_values.cuda()
# Compute Q(s_t, a) - the self.net computes Q(s_t), then we select the
# columns of actions taken
state_action_values = self.net(state_batch).gather(1, action_batch)
# Compute V(s_{t+1}) for all next states.
next_max_values = self.target_net(non_final_next_states).detach().max(1)[0]
next_state_values[non_final_mask]= next_max_values
# Compute the expected Q values
expected_state_action_values = (next_state_values * GAMMA) + reward_batch
# Compute Huber loss
loss = F.smooth_l1_loss(state_action_values, expected_state_action_values)
self.optimizer.zero_grad()
loss.backward()
for param in self.net.parameters():
param.grad.data.clamp_(-1, 1)
self.optimizer.step()
if net_updates%self.update_target_net_each_k_steps==0:
self.target_net.load_state_dict(self.net.state_dict())
print('target_net update!')
return loss.data.cpu().numpy()[0]
def play(self, n):
"""
Play a game with the current net and render it
Inputs:
- n: games to play
"""
for i in range(n):
done = False # games end indicator variable
# Score counter
total_reward_game1 = 0
total_reward_game2 = 0
total_reward = 0
# Reset game
screen1 = self.env1.reset()
screen2 = self.env2.reset()
# list of k last frames
last_k_frames = []
for j in range(self.num_stored_frames):
last_k_frames.append(None)
last_k_frames[j] = torch.cat((gray2pytorch(screen1),gray2pytorch(screen2)),dim=1)
# frame is saved as ByteTensor -> convert to gray value between 0 and 1
state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
while not done:
action = self.select_action(state, mode='play')[0,0]
action1 = self.map_action(action)
action2 = action
# perform selected action on game
screen1, reward1, _, done1, _ = self.env1.step(action1, mode='play')
screen2, reward2, _, done2, _ = self.env2.step(action2, mode='play')
# Logging
total_reward_game1 += int(reward1)
total_reward_game2 += int(reward2)
total_reward += int(reward1) + int(reward2)
# save latest frame, discard oldest
for j in range(self.num_stored_frames-1):
last_k_frames[j] = last_k_frames[j+1]
last_k_frames[self.num_stored_frames-1] = torch.cat((gray2pytorch(screen1),gray2pytorch(screen2)),dim=1)
# convert frames to range 0 to 1 again
state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
# Merged game over indicator
done = done1 or done2
print('Final scores Game ({}/{}): {}: {} '.format(i+1, n, self.game1, total_reward_game1) +
'{}: {} '.format(self.game2, total_reward_game2) +
'total: {}'.format(total_reward))
self.env1.game.close()
self.env2.game.close()
def play_stats(self, n_games, mode='random'):
"""
Play N games randomly or evaluate a net and log results for statistics
Input:
- n_games: int Number of games to play
- mode: str 'random' or 'evaluation'
"""
# Subdirectory for logging
sub_dir = mode + '_' + self.game1 + '+' + self.game2 + '/'
if not os.path.exists(sub_dir):
os.makedirs(sub_dir)
# Store history total
reward_history = []
reward_clamped_history = []
# Store history game 1
reward_history_game1 = []
reward_clamped_history_game1 = []
# Store history game 2
reward_history_game2 = []
reward_clamped_history_game2 = []
# Number of actions to sample from
n_actions = self.env2.get_number_of_actions()
for i_episode in range(1, n_games+1):
# Reset game
screen1 = self.env1.reset()
screen2 = self.env2.reset()
# Store screen
if mode=='evaluation':
# list of k last frames
last_k_frames = []
for j in range(self.num_stored_frames):
last_k_frames.append(None)
last_k_frames[j] = torch.cat((gray2pytorch(screen1),gray2pytorch(screen2)),dim=1)
# frame is saved as ByteTensor -> convert to gray value between 0 and 1
state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
# games end indicator variable
done = False
# reset score with initial lives, because every lost live adds -1
total_reward_game1 = 0
total_reward_clamped_game1 = self.env1.get_lives()
total_reward_game2 = 0
total_reward_clamped_game2 = self.env2.get_lives()
# total scores for both games
total_reward = total_reward_game1 + total_reward_game2
total_reward_clamped = total_reward_clamped_game1 + total_reward_clamped_game2
while not done:
if mode=='random':
action = randrange(n_actions)
elif mode=='evaluation':
action = self.select_action(state, mode='play')[0,0]
action1 = self.map_action(action)
action2 = action
screen1, reward1, reward1_clamped, done1, _ = self.env1.step(action1)
screen2, reward2, reward2_clamped, done2, _ = self.env2.step(action2)
# Logging
total_reward_game1 += int(reward1)
total_reward_game2 += int(reward2)
total_reward += int(reward1) + int(reward2)
total_reward_clamped_game1 += reward1_clamped
total_reward_clamped_game2 += reward2_clamped
total_reward_clamped += reward1_clamped + reward2_clamped
if mode=='evaluation':
# save latest frame, discard oldest
for j in range(self.num_stored_frames-1):
last_k_frames[j] = last_k_frames[j+1]
last_k_frames[self.num_stored_frames-1] = torch.cat((gray2pytorch(screen1),gray2pytorch(screen2)),dim=1)
# convert frames to range 0 to 1 again
state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
# Merged game over indicator
done = done1 or done2
# Print current result
print('Episode: {:6}/{:6} | '.format(i_episode, n_games) +
'score total: ({:6.1f}/{:7.1f}) | '.format(total_reward_clamped,total_reward) +
'score game1: ({:6.1f}/{:7.1f}) | '.format(total_reward_clamped_game1,total_reward_game1) +
'score game2: ({:6.1f}/{:7.1f})'.format(total_reward_clamped_game2,total_reward_game2))
# Save rewards
reward_history_game1.append(total_reward_game1)
reward_history_game2.append(total_reward_game2)
reward_history.append(total_reward)
reward_clamped_history_game1.append(total_reward_clamped_game1)
reward_clamped_history_game2.append(total_reward_clamped_game2)
reward_clamped_history.append(total_reward_clamped)
avg_reward_total = np.sum(reward_history) / len(reward_history)
avg_reward_total_clamped = np.sum(reward_clamped_history) / len(reward_clamped_history)
avg_reward_game1 = np.sum(reward_history_game1) / len(reward_history_game1)
avg_reward_game1_clamped = np.sum(reward_clamped_history_game1) / len(reward_clamped_history_game1)
avg_reward_game2 = np.sum(reward_history_game2) / len(reward_history_game2)
avg_reward_game2_clamped = np.sum(reward_clamped_history_game2) / len(reward_clamped_history_game2)
# Print final result
print('\n\n===========================================\n' +
'avg score after {:6} episodes:\n'.format(n_games) +
'avg total: ({:6.1f}/{:7.1f})\n'.format(avg_reward_total_clamped,avg_reward_total) +
'avg game1: ({:6.1f}/{:7.1f})\n'.format(avg_reward_game1_clamped,avg_reward_game1) +
'avg game2: ({:6.1f}/{:7.1f})\n'.format(avg_reward_game2_clamped,avg_reward_game2))
# Log results to files
with open(sub_dir + mode + '.txt', 'w') as fp:
fp.write('avg score after {:6} episodes:\n'.format(n_games) +
'avg total: ({:6.1f}/{:7.1f})\n'.format(avg_reward_total_clamped,avg_reward_total) +
'avg game1: ({:6.1f}/{:7.1f})\n'.format(avg_reward_game1_clamped,avg_reward_game1) +
'avg game2: ({:6.1f}/{:7.1f})\n'.format(avg_reward_game2_clamped,avg_reward_game2))
# Dump reward
with open(sub_dir + mode + '_reward_game1.pickle', 'wb') as fp:
pickle.dump(reward_history_game1, fp)
with open(sub_dir + mode + '_reward_game2.pickle', 'wb') as fp:
pickle.dump(reward_history_game2, fp)
with open(sub_dir + mode + '_reward_total.pickle', 'wb') as fp:
pickle.dump(reward_history, fp)
with open(sub_dir + mode + '_reward_clamped_game1', 'wb') as fp:
pickle.dump(reward_clamped_history_game1, fp)
with open(sub_dir + mode + '_reward_clamped_game2', 'wb') as fp:
pickle.dump(reward_clamped_history_game2, fp)
with open(sub_dir + mode + '_reward_clamped_total', 'wb') as fp:
pickle.dump(reward_clamped_history, fp)
def train(self):
"""
Train the agent
"""
num_episodes = 100000
net_updates = 0
# Logging
sub_dir = self.game1 + '+' + self.game2 + '_' + datetime.now().strftime('%Y%m%d_%H%M%S') + '/'
os.makedirs(sub_dir)
logfile = sub_dir + 'train.txt'
reward_file = sub_dir + 'reward.pickle'
reward_file_game1 = sub_dir + 'reward_game1.pickle'
reward_file_game2 = sub_dir + 'reward_game2.pickle'
reward_clamped_file = sub_dir + 'reward_clamped.pickle'
reward_clamped_file_game1 = sub_dir + 'reward_clamped_game1.pickle'
reward_clamped_file_game2 = sub_dir + 'reward_clamped_game2.pickle'
reward_clamped_file = sub_dir + 'reward_clamped.pickle'
log_avg_episodes = 50
# Total scores
best_score = 0
best_score_clamped = 0
avg_score = 0
avg_score_clamped = 0
reward_history = []
reward_clamped_history = []
# Scores game 1
avg_score_game1 = 0
avg_score_clamped_game1 = 0
reward_history_game1 = []
reward_clamped_history_game1 = []
# Scores game 2
avg_score_game2 = 0
avg_score_clamped_game2 = 0
reward_history_game2 = []
reward_clamped_history_game2 = []
# Initialize logfile with header
with open(logfile, 'w') as fp:
fp.write(datetime.now().strftime('%Y-%m-%d %H:%M:%S') + '\n' +
'Trained game (first): {}\n'.format(self.game1) +
'Trained game (second): {}\n'.format(self.game2) +
'Learning rate: {:.2E}\n'.format(self.learning_rate) +
'Batch size: {:d}\n'.format(self.batch_size) +
'Memory size(replay): {:d}\n'.format(self.mem_size) +
'Pretrained: {}\n'.format(self.pretrained_model) +
'Pretrained subnet 1: {}\n'.format(self.pretrained_subnet1) +
'Pretrained subnet 2: {}\n'.format(self.pretrained_subnet2) +
'Started training after k frames: {:d}\n'.format(self.start_train_after) +
'Optimized after k frames: {:d}\n'.format(self.optimize_each_k) +
'Target net update after k frame: {:d}\n\n'.format(self.update_target_net_each_k_steps) +
'--------+-----------+----------------------+------------' +
'----------+----------------------+--------------------\n' +
'Episode | Steps | ' +
'{:3} games avg total | '.format(log_avg_episodes) +
'{:3} games avg game1 | '.format(log_avg_episodes) +
'{:3} games avg game2 | '.format(log_avg_episodes) +
'best score total \n' +
'--------+-----------+----------------------+------------' +
'----------+----------------------+--------------------\n')
print('Started training...\nLogging to {}\n'.format(sub_dir) +
'Episode | Steps | score total | score game 1 | ' +
'score game 2 | best score total')
for i_episode in range(1,num_episodes):
# reset game at the start of each episode
screen1 = self.env1.reset()
screen2 = self.env2.reset()
# list of k last frames
last_k_frames = []
for j in range(self.num_stored_frames):
last_k_frames.append(None)
last_k_frames[j] = torch.cat((gray2pytorch(screen1),
gray2pytorch(screen2)), dim=1)
if i_episode == 1:
self.replay.pushFrame(last_k_frames[0].cpu())
# frame is saved as ByteTensor -> convert to gray value between 0 and 1
state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
# games end indicator variable
done1 = False
done2 = False
# reset score with initial lives, because every lost live adds -1
total_reward_game1 = 0
total_reward_clamped_game1 = self.env1.get_lives()
total_reward_game2 = 0
total_reward_clamped_game2 = self.env2.get_lives()
# total scores for both games
total_reward = total_reward_game1 + total_reward_game2
total_reward_clamped = total_reward_clamped_game1 + total_reward_clamped_game2
# Loop over one game
while not done1 and not done2:
self.steps +=1
action = self.select_action(state)
action1 = self.map_action(action[0,0])
action2 = action[0,0]
# perform selected action on game
screen1, reward1, reward1_clamped, done1, _ = self.env1.step(action1)
screen2, reward2, reward2_clamped, done2, _ = self.env2.step(action2)
# Logging
total_reward_game1 += int(reward1)
total_reward_game2 += int(reward2)
total_reward += int(reward1) + int(reward2)
total_reward_clamped_game1 += reward1_clamped
total_reward_clamped_game2 += reward2_clamped
total_reward_clamped += reward1_clamped + reward2_clamped
# Bake reward into tensor
reward = torch.FloatTensor([reward1_clamped+reward2_clamped])
# save latest frame, discard oldest
for j in range(self.num_stored_frames-1):
last_k_frames[j] = last_k_frames[j+1]
last_k_frames[self.num_stored_frames-1] = torch.cat((gray2pytorch(screen1),
gray2pytorch(screen2)), dim=1)
# convert frames to range 0 to 1 again
if not done1 and not done2:
next_state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
else:
next_state = None
# Store transition
self.replay.pushFrame(last_k_frames[self.num_stored_frames - 1].cpu())
self.replay.pushTransition((self.replay.getCurrentIndex()-1)%self.replay.capacity,
action, reward, done1 or done2)
# only optimize each kth step
if self.steps%self.optimize_each_k == 0:
self.optimize(net_updates)
net_updates += 1
# set current state to next state to select next action
if next_state is not None:
state = next_state
if self.use_cuda:
state = state.cuda()
# plays episode until there are no more lives left ( == done)
if done1 or done2:
break;
# Save rewards
reward_history_game1.append(total_reward_game1)
reward_history_game2.append(total_reward_game2)
reward_history.append(total_reward)
reward_clamped_history_game1.append(total_reward_clamped_game1)
reward_clamped_history_game2.append(total_reward_clamped_game2)
reward_clamped_history.append(total_reward_clamped)
# Sum up for averages
avg_score_clamped_game1 += total_reward_clamped_game1
avg_score_clamped_game2 += total_reward_clamped_game2
avg_score_clamped += total_reward_clamped
avg_score_game1 += total_reward_game1
avg_score_game2 += total_reward_game2
avg_score += total_reward
if total_reward_clamped > best_score_clamped:
best_score_clamped = total_reward_clamped
if total_reward > best_score:
best_score = total_reward
print('{:7} | '.format(i_episode) +
'{:9} | '.format(self.steps) +
'({:6.1f}/{:7.1f}) | '.format(total_reward_clamped,total_reward) +
'({:6.1f}/{:7.1f}) | '.format(total_reward_clamped_game1,total_reward_game1) +
'({:6.1f}/{:7.1f}) | '.format(total_reward_clamped_game2,total_reward_game2) +
'({:6.1f}/{:8.1f})'.format(best_score_clamped, best_score))
if i_episode % log_avg_episodes == 0 and i_episode!=0:
avg_score_clamped_game1 /= log_avg_episodes
avg_score_clamped_game2 /= log_avg_episodes
avg_score_clamped /= log_avg_episodes
avg_score_game1 /= log_avg_episodes
avg_score_game2 /= log_avg_episodes
avg_score /= log_avg_episodes
print('--------+-----------+----------------------+------------' +
'----------+----------------------+--------------------\n' +
'Episode | Steps | ' +
'{:3} games avg total | '.format(log_avg_episodes) +
'{:3} games avg game1 | '.format(log_avg_episodes) +
'{:3} games avg game2 | '.format(log_avg_episodes) +
'best score total \n' +
'{:7} | '.format(i_episode) +
'{:9} | '.format(self.steps) +
'({:6.1f}/{:7.1f}) | '.format(avg_score_clamped,avg_score) +
'({:6.1f}/{:7.1f}) | '.format(avg_score_clamped_game1,avg_score_game1) +
'({:6.1f}/{:7.1f}) | '.format(avg_score_clamped_game2,avg_score_game2) +
'({:6.1f}/{:8.1f})\n'.format(best_score_clamped, best_score) +
'\nLogging to file...\n\n'
'--------+-----------+----------------------+------------' +
'----------+----------------------+--------------------\n' +
'Episode | Steps | score total | score game 1 | ' +
'score game 2 | best score total')
# Logfile
with open(logfile, 'a') as fp:
fp.write('{:7} | '.format(i_episode) +
'{:9} | '.format(self.steps) +
'({:6.1f}/{:7.1f}) | '.format(avg_score_clamped,avg_score) +
'({:6.1f}/{:7.1f}) | '.format(avg_score_clamped_game1,avg_score_game1) +
'({:6.1f}/{:7.1f}) | '.format(avg_score_clamped_game2,avg_score_game2) +
'({:6.1f}/{:8.1f})\n'.format(best_score_clamped, best_score))
# Dump reward
with open(reward_file_game1, 'wb') as fp:
pickle.dump(reward_history_game1, fp)
with open(reward_file_game2, 'wb') as fp:
pickle.dump(reward_history_game2, fp)
with open(reward_file, 'wb') as fp:
pickle.dump(reward_history, fp)
with open(reward_clamped_file_game1, 'wb') as fp:
pickle.dump(reward_clamped_history_game1, fp)
with open(reward_clamped_file_game2, 'wb') as fp:
pickle.dump(reward_clamped_history_game2, fp)
with open(reward_clamped_file, 'wb') as fp:
pickle.dump(reward_clamped_history, fp)
avg_score_clamped_game1 = 0
avg_score_clamped_game2 = 0
avg_score_clamped = 0
avg_score_game1 = 0
avg_score_game2 = 0
avg_score = 0
if i_episode % self.save_net_each_k_episodes == 0:
with open(logfile, 'a') as fp:
fp.write('Saved model at episode ' + str(i_episode) + '...\n')
self.target_net.save(sub_dir + str(i_episode) + '_episodes.model')
print('Training done!')
self.target_net.save(sub_dir + 'final.model')
class SingleAgent(object):
def __init__(self,
game,
mem_size = 1000000,
state_buffer_size = 4,
batch_size = 64,
learning_rate = 1e-5,
pretrained_model = None,
frameskip = 4
):
"""
Inputs:
- game: string to select the game
- mem_size: int length of the replay memory
- state_buffer_size: int number of recent frames used as input for neural network
- batch_size: int
- learning_rate: float
- pretrained_model: str path to the model
- record: boolean to enable record option
"""
# Namestring
self.game = game
# Environment
self.env = Environment(game_name[game], dimensions[game], frameskip=frameskip)
# Cuda
self.use_cuda = torch.cuda.is_available()
# Neural network
self.net = DQN(channels_in = state_buffer_size,
num_actions = self.env.get_number_of_actions())
self.target_net = DQN(channels_in = state_buffer_size,
num_actions = self.env.get_number_of_actions())
if self.use_cuda:
self.net.cuda()
self.target_net.cuda()
if pretrained_model:
self.net.load(pretrained_model)
self.target_net.load(pretrained_model)
self.pretrained_model = True
else:
self.pretrained_model = False
# Optimizer
self.learning_rate = learning_rate
self.optimizer = optim.Adam(self.net.parameters(), lr=learning_rate)
#self.optimizer = optim.RMSprop(self.net.parameters(), lr=learning_rate,alpha=0.95, eps=0.01)
self.batch_size = batch_size
self.optimize_each_k = 1
self.update_target_net_each_k_steps = 10000
self.noops_count = 0
# Replay Memory (Long term memory)
self.replay = ReplayMemory(capacity=mem_size, num_history_frames=state_buffer_size)
self.mem_size = mem_size
# Fill replay memory before training
if not self.pretrained_model:
self.start_train_after = 50000
else:
self.start_train_after = mem_size//2
# Buffer for the most recent states (Short term memory)
self.num_stored_frames = state_buffer_size
# Steps
self.steps = 0
# Save net
self.save_net_each_k_episodes = 500
def select_action(self, observation, mode='train'):
"""
Select an random action from action space or an proposed action
from neural network depending on epsilon
Inputs:
- observation: np.array with the observation
Returns:
action: int
"""
# Hyperparameters
EPSILON_START = 1
EPSILON_END = 0.1
EPSILON_DECAY = 1000000
EPSILON_PLAY = 0.01
MAXNOOPS = 30
# Decrease of epsilon value
if not self.pretrained_model:
#epsilon = EPSILON_END + (EPSILON_START - EPSILON_END) * \
# np.exp(-1. * (self.steps-self.batch_size) / EPSILON_DECAY)
epsilon = EPSILON_START - self.steps * (EPSILON_START - EPSILON_END) / EPSILON_DECAY
elif mode=='play':
epsilon = EPSILON_PLAY
else:
epsilon = EPSILON_END
if epsilon < random():
# Action according to neural net
# Wrap tensor into variable
state_variable = Variable(observation, volatile=True)
# Evaluate network and return action with maximum of activation
action = self.net(state_variable).data.max(1)[1].view(1,1)
# Prevent noops
if action[0,0]!=1:
self.noops_count += 1
if self.noops_count == MAXNOOPS:
action[0,0] = 1
self.noops_count = 0
else:
self.noops_count = 0
else:
# Random action
action = self.env.sample_action()
action = LongTensor([[action]])
return action
def optimize(self, net_updates):
"""
Optimizer function
Inputs:
- net_updates: int
Returns:
- loss: float
- q_value: float
- exp_q_value: float
"""
# Hyperparameter
GAMMA = 0.99
# not enough memory yet
if len(self.replay) < self.start_train_after:
return
# Sample a transition
batch = self.replay.sampleTransition(self.batch_size)
# Mask to indicate which states are not final (=done=game over)
non_final_mask = ByteTensor(list(map(lambda ns: ns is not None, batch.next_state)))
# Wrap tensors in variables
state_batch = Variable(torch.cat(batch.state))
action_batch = Variable(torch.cat(batch.action))
reward_batch = Variable(torch.cat(batch.reward))
non_final_next_states = Variable(torch.cat([ns for ns in batch.next_state if ns is not None]),
volatile=True) # volatile==true prevents calculation of the derivative
next_state_values = Variable(torch.zeros(self.batch_size).type(FloatTensor), volatile=False)
if self.use_cuda:
state_batch = state_batch.cuda()
action_batch = action_batch.cuda()
reward_batch = reward_batch.cuda()
non_final_mask = non_final_mask.cuda()
non_final_next_states = non_final_next_states.cuda()
next_state_values = next_state_values.cuda()
# Compute Q(s_t, a) - the self.net computes Q(s_t), then we select the
# columns of actions taken
state_action_values = self.net(state_batch).gather(1, action_batch)
# Compute V(s_{t+1}) for all next states.
next_max_values = self.target_net(non_final_next_states).detach().max(1)[0]
next_state_values[non_final_mask]= next_max_values
# Compute the expected Q values
expected_state_action_values = (next_state_values * GAMMA) + reward_batch
# Compute Huber loss
loss = F.smooth_l1_loss(state_action_values, expected_state_action_values)
self.optimizer.zero_grad()
loss.backward()
for param in self.net.parameters():
param.grad.data.clamp_(-1, 1)
self.optimizer.step()
if net_updates%self.update_target_net_each_k_steps==0:
self.target_net.load_state_dict(self.net.state_dict())
print('target_net update!')
return loss.data.cpu().numpy()[0]
def play(self, n):
"""
Play a game with the current net and render it
Inputs:
- n: games to play
"""
for i in range(n):
done = False # games end indicator variable
score = 0
# Reset game
screen = self.env.reset()
# list of k last frames
last_k_frames = []
for j in range(self.num_stored_frames):
last_k_frames.append(None)
last_k_frames[j] = gray2pytorch(screen)
# frame is saved as ByteTensor -> convert to gray value between 0 and 1
state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
while not done:
action = self.select_action(state, mode='play')[0,0]
screen, reward, _, done, _ = self.env.step(action, mode='play')
score += reward
# save latest frame, discard oldest
for j in range(self.num_stored_frames-1):
last_k_frames[j] = last_k_frames[j+1]
last_k_frames[self.num_stored_frames-1] = gray2pytorch(screen)
# convert frames to range 0 to 1 again
state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
self.state = state
print('Game ({}/{}) - Final score {}: {}'.format(i+1, n, self.game, score))
self.env.game.close()
def play_stats(self, n_games, mode='random'):
"""
Play N games randomly or evaluate a net and log results for statistics
Input:
- n_games: int Number of games to play
- mode: str 'random' or 'evaluation'
"""
# Subdirectory for logging
sub_dir = mode + '_' + self.game + '/'
if not os.path.exists(sub_dir):
os.makedirs(sub_dir)
# Store history
reward_history = []
reward_clamped_history = []
# Number of actions to sample from
n_actions = self.env.get_number_of_actions()
for i_episode in range(1, n_games+1):
# Reset game
screen = self.env.reset()
# Store screen
if mode=='evaluation':
# list of k last frames
last_k_frames = []
for j in range(self.num_stored_frames):
last_k_frames.append(None)
last_k_frames[j] = gray2pytorch(screen)
# frame is saved as ByteTensor -> convert to gray value between 0 and 1
state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
# games end indicator variable
done = False
# reset score with initial lives, because every lost live adds -1
total_reward = 0
total_reward_clamped = self.env.get_lives()
while not done:
if mode=='random':
action = randrange(n_actions)
elif mode=='evaluation':
action = self.select_action(state, mode='play')[0,0]
screen, reward, reward_clamped, done, _ = self.env.step(action)
total_reward += int(reward)
total_reward_clamped += int(reward_clamped)
if mode=='evaluation':
# save latest frame, discard oldest
for j in range(self.num_stored_frames-1):
last_k_frames[j] = last_k_frames[j+1]
last_k_frames[self.num_stored_frames-1] = gray2pytorch(screen)
# convert frames to range 0 to 1 again
state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
# Print current result
print('Episode: {:6}/{:6} | '.format(i_episode, n_games),
'score: ({:4}/{:4})'.format(total_reward_clamped,total_reward))
# Save rewards
reward_history.append(total_reward)
reward_clamped_history.append(total_reward_clamped)
avg_reward = np.sum(reward_history)/len(reward_history)
avg_reward_clamped = np.sum(reward_clamped_history)/len(reward_clamped_history)
# Print final result
print('\n\n=============================================\n' +
'avg score after {:6} episodes: ({:.2f}/{:.2f})\n'.format(n_games, avg_reward_clamped, avg_reward))
# Log results to files
with open(sub_dir + mode + '.txt', 'w') as fp:
fp.write('avg score after {:6} episodes: ({:.2f}/{:.2f})\n'.format(n_games, avg_reward_clamped, avg_reward))
with open(sub_dir + mode + '_reward.pickle', 'wb') as fp:
pickle.dump(reward_history, fp)
with open(sub_dir + mode + '_reward_clamped.pickle', 'wb') as fp:
pickle.dump(reward_clamped_history, fp)
def train(self):
"""
Train the agent
"""
num_episodes = 100000
net_updates = 0
# Logging
sub_dir = self.game + '_' + datetime.now().strftime('%Y%m%d_%H%M%S') + '/'
os.makedirs(sub_dir)
logfile = sub_dir + self.game + '_train.txt'
loss_file = sub_dir + 'loss.pickle'
reward_file = sub_dir + 'reward.pickle'
reward_clamped_file = sub_dir + 'reward_clamped.pickle'
log_avg_episodes = 50
best_score = 0
best_score_clamped = 0
avg_score = 0
avg_score_clamped = 0
loss_history = []
reward_history = []
reward_clamped_history = []
# Initialize logfile with header
with open(logfile, 'w') as fp:
fp.write(datetime.now().strftime('%Y-%m-%d %H:%M:%S') + '\n' +
'Trained game: ' + str(self.game) + '\n' +
'Learning rate: ' + str(self.learning_rate) + '\n' +
'Batch size: ' + str(self.batch_size) + '\n' +
'Memory size(replay): ' + str(self.mem_size) + '\n' +
'Pretrained: ' + str(self.pretrained_model) + '\n' +
'Started training after k frames: ' + str(self.start_train_after) + '\n' +
'Optimized after k frames: ' + str(self.optimize_each_k) + '\n' +
'Target net update after k frame: ' + str(self.update_target_net_each_k_steps) + '\n\n' +
'------------------------------------------------------' +
'--------------------------------------------------\n')
print('Started training...\nLogging to', sub_dir)
for i_episode in range(1,num_episodes):
# reset game at the start of each episode
screen = self.env.reset()
# list of k last frames
last_k_frames = []
for j in range(self.num_stored_frames):
last_k_frames.append(None)
last_k_frames[j] = gray2pytorch(screen)
if i_episode == 1:
self.replay.pushFrame(last_k_frames[0].cpu())
# frame is saved as ByteTensor -> convert to gray value between 0 and 1
state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
done = False # games end indicator variable
# reset score with initial lives, because every lost live adds -1
total_reward = 0
total_reward_clamped = self.env.get_lives()
# Loop over one game
while not done:
self.steps +=1
action = self.select_action(state)
# perform selected action on game
screen, reward, reward_clamped, done, _ = self.env.step(action[0,0])
total_reward += int(reward)
total_reward_clamped += int(reward_clamped)
# Wrap into tensor
reward = torch.Tensor([reward_clamped])
# save latest frame, discard oldest
for j in range(self.num_stored_frames-1):
last_k_frames[j] = last_k_frames[j+1]
last_k_frames[self.num_stored_frames-1] = gray2pytorch(screen)
# convert frames to range 0 to 1 again
if not done:
next_state = torch.cat(last_k_frames,1).type(FloatTensor)/255.0
else:
next_state = None
# Store transition
self.replay.pushFrame(last_k_frames[self.num_stored_frames - 1].cpu())
self.replay.pushTransition((self.replay.getCurrentIndex()-1)%self.replay.capacity, action, reward, done)
# only optimize each kth step
if self.steps%self.optimize_each_k == 0:
loss = self.optimize(net_updates)
# Logging
loss_history.append(loss)
#q_history.append(q_value)
#exp_q_history.append(exp_q_value)
net_updates += 1
# set current state to next state to select next action
if next_state is not None:
state = next_state
if self.use_cuda:
state = state.cuda()
# plays episode until there are no more lives left ( == done)
if done:
break;
# Save rewards
reward_history.append(total_reward)
reward_clamped_history.append(total_reward_clamped)
print('Episode: {:6} | '.format(i_episode),
'steps {:8} | '.format(self.steps),
'loss: {:.2E} | '.format(loss if loss else 0),
'score: ({:4}/{:4}) | '.format(total_reward_clamped,total_reward),
'best score: ({:4}/{:4}) | '.format(best_score_clamped,best_score),
'replay size: {:7}'.format(len(self.replay)))
avg_score_clamped += total_reward_clamped
avg_score += total_reward
if total_reward_clamped > best_score_clamped:
best_score_clamped = total_reward_clamped
if total_reward > best_score:
best_score = total_reward
if i_episode % log_avg_episodes == 0 and i_episode!=0:
avg_score_clamped /= log_avg_episodes
avg_score /= log_avg_episodes
print('----------------------------------------------------------------'
'-----------------------------------------------------------------',
'\nLogging to file: \nEpisode: {:6} '.format(i_episode),
'steps: {:8} '.format(self.steps),
'avg on last {:4} games ({:6.1f}/{:6.1f}) '.format(log_avg_episodes, avg_score_clamped,avg_score),
'best score: ({:4}/{:4})'.format(best_score_clamped, best_score),
'\n---------------------------------------------------------------'
'------------------------------------------------------------------')
# Logfile
with open(logfile, 'a') as fp:
fp.write('Episode: {:6} | '.format(i_episode) +
'steps: {:8} | '.format(self.steps) +
'avg on last {:4} games ({:6.1f}/{:6.1f}) | '.format(log_avg_episodes, avg_score_clamped,avg_score) +
'best score: ({:4}/{:4})\n'.format(best_score_clamped, best_score))
# Dump loss & reward
with open(loss_file, 'wb') as fp:
pickle.dump(loss_history, fp)
with open(reward_file, 'wb') as fp:
pickle.dump(reward_history, fp)
with open(reward_clamped_file, 'wb') as fp:
pickle.dump(reward_clamped_history, fp)
avg_score_clamped = 0
avg_score = 0
if i_episode % self.save_net_each_k_episodes == 0:
with open(logfile, 'a') as fp:
fp.write('Saved model at episode ' + str(i_episode) + '...\n')
self.target_net.save(sub_dir + self.game + '-' + str(i_episode) + '_episodes.model')
print('Training done!')
self.target_net.save(sub_dir + self.game + '.model')
class Agent(object):
def __init__(
self,
game,
mem_size=512 * 512, #1024*512,
state_buffer_size=4,
batch_size=64,
learning_rate=1e-5,
pretrained_model=None,
frameskip=4, #1
record=False):
"""
Inputs:
- game: string to select the game
- mem_size: int length of the replay memory
- state_buffer_size: int number of recent frames used as input for neural network
- batch_size: int
- learning_rate: float
- pretrained_model: str path to the model
- record: boolean to enable record option
"""
# Namestring
self.game = game
# dimensions: tuple (h1,h2,w1,w2) with dimensions of the game (to crop borders)
#if self.game == 'Breakout-v0':
# dimensions = (32, 195, 8, 152)
#elif self.game == 'SpaceInvaders-v0':
# dimensions = (21, 195, 20, 141)
#elif self.game == 'Assault-v0':
# dimensions = (50, 240, 5, 155)
#elif self.game == 'Phoenix-v0':
# dimensions = (23, 183, 0, 160)
#elif self.game == 'Skiing-v0':
# dimensions = (55, 202, 8, 152)
#elif self.game == 'Enduro-v0':
# dimensions = (50, 154, 8, 160)
#elif self.game == 'BeamRider-v0':
# dimensions = (32, 180, 9, 159)
if self.game == 'BreakoutAndSpace':
dimensions_break = (32, 195, 8, 152)
dimensions_space = (21, 195, 20, 141)
elif self.game != 'BreakoutAndSpace':
print(
'Error! This version is for playing BreakOut and SpaceInvaders at the same time.'
)
# Environment
self.env_break = Environment('BreakoutNoFrameskip-v4',
dimensions_break,
frameskip=frameskip)
self.env_space = Environment('SpaceInvaders-v0',
dimensions_space,
frameskip=frameskip)
# Cuda
self.use_cuda = torch.cuda.is_available()
# Neural network
self.net = DQN(channels_in=state_buffer_size,
num_actions=self.env_space.get_number_of_actions())
self.target_net = DQN(
channels_in=state_buffer_size,
num_actions=self.env_space.get_number_of_actions())
if self.use_cuda:
self.net.cuda()
self.target_net.cuda()
if pretrained_model:
self.net.load(pretrained_model)
self.target_net.load(pretrained_model)
self.pretrained_model = True
else:
self.pretrained_model = False
# Optimizer
self.learning_rate = learning_rate
self.optimizer = optim.Adam(self.net.parameters(), lr=learning_rate)
#self.optimizer = optim.RMSprop(self.net.parameters(), lr = 0.00025,alpha=0.95, eps=0.01)
self.batch_size = batch_size
self.optimize_each_k = 4
self.update_target_net_each_k_steps = 10000
self.noops_count = 0
# Replay Memory (Long term memory)
self.replay = ReplayMemory(capacity=mem_size,
num_history_frames=state_buffer_size)
self.mem_size = mem_size
# Fill replay memory before training
if not self.pretrained_model:
self.start_train_after = 25000
else:
self.start_train_after = mem_size // 2
# Buffer for the most recent states (Short term memory)
self.num_stored_frames = state_buffer_size
# Steps
self.steps = 0
# Save net
self.save_net_each_k_episodes = 500
def select_action(self, observation, mode='train'):
"""
Select an random action from action space or an proposed action
from neural network depending on epsilon
Inputs:
- observation: np.array with the observation
Returns:
action: int
"""
# Hyperparameters
EPSILON_START = 1
EPSILON_END = 0.1
EPSILON_DECAY = 1000000
MAXNOOPS = 30
# Decrease of epsilon value
if not self.pretrained_model:
#epsilon = EPSILON_END + (EPSILON_START - EPSILON_END) * \
# np.exp(-1. * (self.steps-self.batch_size) / EPSILON_DECAY)
epsilon = EPSILON_START - self.steps * (
EPSILON_START - EPSILON_END) / EPSILON_DECAY
else:
epsilon = EPSILON_END
if epsilon > random() or mode == 'play':
# Action according to neural net
# Wrap tensor into variable
state_variable = Variable(observation, volatile=True)
# Evaluate network and return action with maximum of activation
action = self.net(state_variable).data.max(1)[1].view(1, 1)
# Prevent noops
if action[0, 0] == 0:
self.noops_count += 1
if self.noops_count == MAXNOOPS:
action[0, 0] = 1
self.noops_count = 0
else:
self.noops_count = 0
else:
# Random action
action = self.env_space.sample_action()
action = LongTensor([[action]])
return action
def optimize(self, net_updates):
"""
Optimizer function
Inputs:
- net_updates: int
Returns:
- loss: float
- q_value: float
- exp_q_value: float
"""
# Hyperparameter
GAMMA = 0.99
# not enough memory yet
if len(self.replay) < self.start_train_after:
return
# Sample a transition
batch = self.replay.sampleTransition(self.batch_size)
# Mask to indicate which states are not final (=done=game over)
non_final_mask = ByteTensor(
list(map(lambda ns: ns is not None, batch.next_state)))
# Wrap tensors in variables
state_batch = Variable(torch.cat(batch.state))
action_batch = Variable(torch.cat(batch.action))
reward_batch = Variable(torch.cat(batch.reward))
non_final_next_states = Variable(
torch.cat([ns for ns in batch.next_state if ns is not None]),
volatile=True
) # volatile==true prevents calculation of the derivative
next_state_values = Variable(torch.zeros(
self.batch_size).type(FloatTensor),
volatile=False)
if self.use_cuda:
state_batch = state_batch.cuda()
action_batch = action_batch.cuda()
reward_batch = reward_batch.cuda()
non_final_mask = non_final_mask.cuda()
non_final_next_states = non_final_next_states.cuda()
next_state_values = next_state_values.cuda()
# Compute Q(s_t, a) - the self.net computes Q(s_t), then we select the
# columns of actions taken
state_action_values = self.net(state_batch).gather(1, action_batch)
# Compute V(s_{t+1}) for all next states.
next_max_values = self.target_net(non_final_next_states).detach().max(
1)[0]
next_state_values[non_final_mask] = next_max_values
# Compute the expected Q values
expected_state_action_values = (next_state_values *
GAMMA) + reward_batch
# Compute Huber loss
loss = F.smooth_l1_loss(state_action_values,
expected_state_action_values)
self.optimizer.zero_grad()
loss.backward()
for param in self.net.parameters():
param.grad.data.clamp_(-1, 1)
self.optimizer.step()
if net_updates % self.update_target_net_each_k_steps == 0:
self.target_net.load_state_dict(self.net.state_dict())
print('target_net update!')
return loss.data.cpu().numpy()[0]
def play(self):
"""
Play a game with the current net and render it
"""
done = False # games end indicator variable
score = 0
# Reset game
screen_break = self.env_break.reset()
screen_space = self.env_space.reset()
# list of k last frames
############old version:
#breakout part
#last_k_frames_break = []
#for j in range(self.num_stored_frames):
# last_k_frames_break.append(None)
# last_k_frames_break[j] = gray2pytorch(screen_break)
#spaceinvaders part
#last_k_frames_space = []
#for j in range(self.num_stored_frames):
# last_k_frames_space.append(None)
# last_k_frames_space[j] = gray2pytorch(screen_space)
#################
last_k_frames = []
for j in range(self.num_stored_frames):
last_k_frames.append(None)
last_k_frames[j] = torch.cat(
(gray2pytorch(screen_break), gray2pytorch(screen_space)),
dim=2)
# frame is saved as ByteTensor -> convert to gray value between 0 and 1
############old version:
#state_break = torch.cat(last_k_frames_break, 1).type(FloatTensor) / 255.0
#state_space = torch.cat(last_k_frames_space, 1).type(FloatTensor) / 255.0
#state = torch.cat((state_break,state_space), 2)
state = torch.cat(last_k_frames, 1).type(FloatTensor) / 255.0
while not done:
action = self.select_action(state, mode='play')
# Render game
self.env_break.game.render(mode='human')
self.env_space.game.render(mode='human')
# maps actions from space invaders to breakout (shot-left to left, shot-right to right)
if action[0, 0] == 4:
action_break = 2
elif action[0, 0] == 5:
action_break = 3
elif action[0, 0] != 5:
action_break = action[0, 0]
screen_break, _, reward_break, done_break, info_break = self.env_break.step(
action_break, mode='play')
screen_space, _, reward_space, done_space, info_space = self.env_space.step(
action[0, 0], mode='play')
score += reward_break
score += reward_space
done = done_break or done_space
############old
# save latest frame, discard oldest
#for j in range(self.num_stored_frames - 1):
# last_k_frames_break[j] = last_k_frames_break[j + 1]
# last_k_frames_space[j] = last_k_frames_space[j + 1]
#last_k_frames_break[self.num_stored_frames - 1] = gray2pytorch(screen_break)
#last_k_frames_space[self.num_stored_frames - 1] = gray2pytorch(screen_space)
# convert frames to range 0 to 1 again
#state_break = torch.cat(last_k_frames_break, 1).type(FloatTensor) / 255.0
#state_space = torch.cat(last_k_frames_space, 1).type(FloatTensor) / 255.0
#state = torch.cat((state_break, state_space), 2)
#############old_end
# save latest frame, discard oldest
for j in range(self.num_stored_frames - 1):
last_k_frames[j] = last_k_frames[j + 1]
last_k_frames[self.num_stored_frames - 1] = torch.cat(
(gray2pytorch(screen_break), gray2pytorch(screen_space)),
dim=2)
# convert frames to range 0 to 1 again
state = torch.cat(last_k_frames, 1).type(FloatTensor) / 255.0
done = done_break or done_space
print('Final score:', score)
self.env.game.close() #for both changen
def train(self):
"""
Train the agent
"""
num_episodes = 100000
net_updates = 0
# Logging
sub_dir = self.game + '_' + datetime.now().strftime(
'%Y%m%d_%H%M%S') + '/'
os.makedirs(sub_dir)
logfile = sub_dir + self.game + '_train.log'
loss_file = sub_dir + 'loss.pickle'
reward_file = sub_dir + 'reward.pickle'
reward_clamped_file = sub_dir + 'reward_clamped.pickle'
log_avg_episodes = 50
best_score = 0
best_score_clamped = 0
avg_score = 0
avg_score_clamped = 0
loss_history = []
reward_history = []
reward_clamped_history = []
# Initialize logfile with header
with open(logfile, 'w') as fp:
fp.write(
datetime.now().strftime('%Y%m%d_%H%M%S') + '\n' +
'Trained game: ' + str(self.game) + '\n' +
'Learning rate: ' + str(self.learning_rate) + '\n' +
'Batch size: ' + str(self.batch_size) + '\n' +
'Pretrained: ' + str(self.pretrained_model) + '\n' +
'Started training after k frames: ' +
str(self.start_train_after) + '\n' +
'Optimized after k frames: ' + str(self.optimize_each_k) +
'\n' + 'Target net update after k frame: ' +
str(self.update_target_net_each_k_steps) + '\n\n' +
'--------------------------------------------------------------------------------\n'
)
print('Started training...\nLogging to', sub_dir)
for i_episode in range(1, num_episodes):
# reset game at the start of each episode
screen_break = self.env_break.reset()
screen_space = self.env_space.reset()
# list of k last frames
last_k_frames_break = []
last_k_frames_space = []
for j in range(self.num_stored_frames):
last_k_frames_break.append(None)
last_k_frames_space.append(None)
last_k_frames_break[j] = gray2pytorch(screen_break)
last_k_frames_space[j] = gray2pytorch(screen_space)
if i_episode == 1:
frames_both = torch.cat((last_k_frames_break[0].cpu(),
last_k_frames_space[0].cpu()), 2)
#self.replay.pushFrame(last_k_frames_break[0].cpu())
#self.replay.pushFrame(last_k_frames_space[0].cpu())
self.replay.pushFrame(frames_both)
# frame is saved as ByteTensor -> convert to gray value between 0 and 1
state_break = torch.cat(last_k_frames_break,
1).type(FloatTensor) / 255.0
state_space = torch.cat(last_k_frames_space,
1).type(FloatTensor) / 255.0
state = torch.cat((state_break, state_space), 2)
done = False # games end indicator variable
# reset score with initial lives, because every lost live adds -1
total_reward = self.env_break.get_lives()
total_reward += self.env_space.get_lives()
total_reward_clamped = self.env_break.get_lives()
total_reward_clamped += self.env_space.get_lives()
###########
# Loop over one game
while not done:
self.steps += 1
action = self.select_action(state)
# perform selected action on game
# screen, reward, done, info = self.env.step(action[0,0])#envTest.step(action[0,0])
#maps actions from space invaders to breakout (shot-left to left, shot-right to right)
screen_space, _, reward_space, done_space, info_space = self.env_space.step(
action[0, 0])
action_break = action[0, 0]
if action_break > 3: #shoot+right/left --> right/left
action_break = action_break - 2
screen_break, _, reward_break, done_break, info_break = self.env_break.step(
action_break)
total_reward += int(reward_break)
total_reward += int(reward_space)
done = done_break or done_space
# clamp rewards
reward_break = torch.Tensor([np.clip(reward_break, -1, 1)])
reward_space = torch.Tensor([np.clip(reward_space, -1, 1)])
reward = reward_break + reward_space
total_reward_clamped += int(reward_break[0])
total_reward_clamped += int(reward_space[0])
# save latest frame, discard oldest
for j in range(self.num_stored_frames - 1):
last_k_frames_break[j] = last_k_frames_break[j + 1]
last_k_frames_space[j] = last_k_frames_space[j + 1]
last_k_frames_break[self.num_stored_frames -
1] = gray2pytorch(screen_break)
last_k_frames_space[self.num_stored_frames -
1] = gray2pytorch(screen_space)
# convert frames to range 0 to 1 again
if not done:
next_state_break = torch.cat(last_k_frames_break,
1).type(FloatTensor) / 255.0
next_state_space = torch.cat(last_k_frames_space,
1).type(FloatTensor) / 255.0
next_state = torch.cat(
(next_state_break, next_state_space), 2)
else:
next_state = None
#Store transition
#Frame concat, Trasition not (try)
frame_break = last_k_frames_break[self.num_stored_frames -
1].cpu()
frame_space = last_k_frames_space[self.num_stored_frames -
1].cpu()
frame_both = torch.cat((frame_break, frame_space), 2)
self.replay.pushFrame(frame_both)
self.replay.pushTransition(
(self.replay.getCurrentIndex() - 1) % self.replay.capacity,
action, reward, done)
# only optimize each kth step
if self.steps % self.optimize_each_k == 0:
loss = self.optimize(net_updates)
# Logging
loss_history.append(loss)
#q_history.append(q_value)
#exp_q_history.append(exp_q_value)
net_updates += 1
# set current state to next state to select next action
if next_state is not None:
state = next_state
if self.use_cuda:
state = state.cuda()
# plays episode until there are no more lives left ( == done)
if done:
break
# Save rewards
reward_history.append(total_reward)
reward_clamped_history.append(total_reward_clamped)
print(
'Episode: {:6} | '.format(i_episode),
'steps {:8} | '.format(self.steps),
'loss: {:.2E} | '.format(loss if loss else 0),
'score: ({:4}/{:4}) | '.format(total_reward_clamped,
total_reward),
'best score: ({:4}/{:4}) | '.format(best_score_clamped,
best_score),
'replay size: {:7}'.format(len(self.replay)))
avg_score_clamped += total_reward_clamped
avg_score += total_reward
if total_reward_clamped > best_score_clamped:
best_score_clamped = total_reward_clamped
if total_reward > best_score:
best_score = total_reward
if i_episode % log_avg_episodes == 0 and i_episode != 0:
avg_score_clamped /= log_avg_episodes
avg_score /= log_avg_episodes
print(
'----------------------------------------------------------------'
'-----------------------------------------------------------------',
'\nLogging to file: \nEpisode: {:6} '.format(i_episode),
'steps: {:8} '.format(self.steps),
'avg on last {:4} games ({:6.1f}/{:6.1f}) '.format(
log_avg_episodes, avg_score_clamped, avg_score),
'best score: ({:4}/{:4})'.format(best_score_clamped,
best_score),
'\n---------------------------------------------------------------'
'------------------------------------------------------------------'
)
# Logfile
with open(logfile, 'a') as fp:
fp.write(
'Episode: {:6} | '.format(i_episode) +
'steps: {:8} | '.format(self.steps) +
'avg on last {:4} games ({:6.1f}/{:6.1f}) | '.format(
log_avg_episodes, avg_score_clamped, avg_score) +
'best score: ({:4}/{:4})\n'.format(
best_score_clamped, best_score))
# Dump loss & reward
with open(loss_file, 'wb') as fp:
pickle.dump(loss_history, fp)
with open(reward_file, 'wb') as fp:
pickle.dump(reward_history, fp)
with open(reward_clamped_file, 'wb') as fp:
pickle.dump(reward_clamped_history, fp)
avg_score_clamped = 0
avg_score = 0
if i_episode % self.save_net_each_k_episodes == 0:
with open(logfile, 'a') as fp:
fp.write('Saved model at episode ' + str(i_episode) +
'...\n')
self.target_net.save(sub_dir + self.game + '-' +
str(i_episode) + '_episodes.model')
print('Training done!')
self.target_net.save(sub_dir + self.game + '.model')